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ACT Tuning Tips #16

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Nimingez opened this issue Oct 17, 2023 · 1 comment

Nimingez commented Oct 17, 2023

thank for you work！！！

Chunk size is the most important param to tune when applying ACT to a new environment. One chunk should correspond to ~1 secs wall-clock robot motion.
what it means? ~1 secs wall-clock robot motion.

Owner

tonyzhaozh commented Dec 1, 2023

It means that if the control frequency is 50Hz, the chunk size should be roughly 50!

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